Lexicographic optimization based model predictive control: Application to quadruple tank system

Lexicographic optimization based model predictive control is a modified Model Predictive Control algorithm (MPC), which incorporates explicit controlled output priority by solving a series of optimization problems at every iteration in order of priority. We present an application of controlling liquid levels in quadruple cylindrical tanks using lexicographic optimization based MPC and compare the results with conventional MPC approach. The results show the superiority of lexicographic optimization based MPC over conventional MPC in terms of setpoint tracking. Extended Kalman filter is used as the state observer for the simulation results in this work for nonlinear quadruple cylindrical tank system. © 2010 American Institute of Physics.